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<FONT color="green">001</FONT>    package maze.ai;<a name="line.1"></a>
<FONT color="green">002</FONT>    <a name="line.2"></a>
<FONT color="green">003</FONT>    import javax.swing.JOptionPane;<a name="line.3"></a>
<FONT color="green">004</FONT>    <a name="line.4"></a>
<FONT color="green">005</FONT>    import maze.model.Direction;<a name="line.5"></a>
<FONT color="green">006</FONT>    import maze.model.MazeCell;<a name="line.6"></a>
<FONT color="green">007</FONT>    import maze.model.MazeModel;<a name="line.7"></a>
<FONT color="green">008</FONT>    import maze.model.RobotModel;<a name="line.8"></a>
<FONT color="green">009</FONT>    import maze.model.RobotModelMaster;<a name="line.9"></a>
<FONT color="green">010</FONT>    <a name="line.10"></a>
<FONT color="green">011</FONT>    /**<a name="line.11"></a>
<FONT color="green">012</FONT>     * Controls the AI and models to move the robot through the maze.<a name="line.12"></a>
<FONT color="green">013</FONT>     * @author Luke Last<a name="line.13"></a>
<FONT color="green">014</FONT>     */<a name="line.14"></a>
<FONT color="green">015</FONT>    public final class RobotController<a name="line.15"></a>
<FONT color="green">016</FONT>    {<a name="line.16"></a>
<FONT color="green">017</FONT>       private static final int MAX_STEP_COUNT = 2000;<a name="line.17"></a>
<FONT color="green">018</FONT>       private final MazeModel mazeModel;<a name="line.18"></a>
<FONT color="green">019</FONT>       private final RobotModelMaster robotModelMaster;<a name="line.19"></a>
<FONT color="green">020</FONT>       private final RobotModel robotModelClient;<a name="line.20"></a>
<FONT color="green">021</FONT>       private final RobotBase ai;<a name="line.21"></a>
<FONT color="green">022</FONT>       /**<a name="line.22"></a>
<FONT color="green">023</FONT>        * A flag that is set true if the robot crashes into a wall.<a name="line.23"></a>
<FONT color="green">024</FONT>        */<a name="line.24"></a>
<FONT color="green">025</FONT>       private boolean robotCrashed = false;<a name="line.25"></a>
<FONT color="green">026</FONT>       /**<a name="line.26"></a>
<FONT color="green">027</FONT>        * Stores the total number of moves taken from one cell to the next not<a name="line.27"></a>
<FONT color="green">028</FONT>        * counting turns.<a name="line.28"></a>
<FONT color="green">029</FONT>        */<a name="line.29"></a>
<FONT color="green">030</FONT>       private int robotMoveCount = 0;<a name="line.30"></a>
<FONT color="green">031</FONT>       /**<a name="line.31"></a>
<FONT color="green">032</FONT>        * Stores the total number of turns taken.<a name="line.32"></a>
<FONT color="green">033</FONT>        */<a name="line.33"></a>
<FONT color="green">034</FONT>       private int robotTurnCount = 0;<a name="line.34"></a>
<FONT color="green">035</FONT>    <a name="line.35"></a>
<FONT color="green">036</FONT>       /**<a name="line.36"></a>
<FONT color="green">037</FONT>        * Constructor.<a name="line.37"></a>
<FONT color="green">038</FONT>        * @param model The maze model to use.<a name="line.38"></a>
<FONT color="green">039</FONT>        * @param robotAI The robot AI algorithm to use.<a name="line.39"></a>
<FONT color="green">040</FONT>        */<a name="line.40"></a>
<FONT color="green">041</FONT>       public RobotController(MazeModel model, RobotBase robotAI)<a name="line.41"></a>
<FONT color="green">042</FONT>       {<a name="line.42"></a>
<FONT color="green">043</FONT>          this.mazeModel = model;<a name="line.43"></a>
<FONT color="green">044</FONT>          this.ai = robotAI;<a name="line.44"></a>
<FONT color="green">045</FONT>          final MazeCell start = new MazeCell(1, this.mazeModel.getSize().height);<a name="line.45"></a>
<FONT color="green">046</FONT>          this.robotModelMaster = new RobotModelMaster(this.mazeModel, start, Direction.North);<a name="line.46"></a>
<FONT color="green">047</FONT>          this.robotModelClient = new RobotModel(this.robotModelMaster);<a name="line.47"></a>
<FONT color="green">048</FONT>          this.initialize();<a name="line.48"></a>
<FONT color="green">049</FONT>       }<a name="line.49"></a>
<FONT color="green">050</FONT>    <a name="line.50"></a>
<FONT color="green">051</FONT>       /**<a name="line.51"></a>
<FONT color="green">052</FONT>        * Initializes/resets all values of this controller allowing a new simulation<a name="line.52"></a>
<FONT color="green">053</FONT>        * to be run from the beginning.<a name="line.53"></a>
<FONT color="green">054</FONT>        */<a name="line.54"></a>
<FONT color="green">055</FONT>       public void initialize()<a name="line.55"></a>
<FONT color="green">056</FONT>       {<a name="line.56"></a>
<FONT color="green">057</FONT>          this.robotModelMaster.setCurrentLocation(new MazeCell(1, this.mazeModel.getSize().height));<a name="line.57"></a>
<FONT color="green">058</FONT>          this.robotModelMaster.setDirection(Direction.North);<a name="line.58"></a>
<FONT color="green">059</FONT>          this.ai.setRobotLocation(this.robotModelClient);<a name="line.59"></a>
<FONT color="green">060</FONT>          this.ai.initialize();<a name="line.60"></a>
<FONT color="green">061</FONT>          this.robotCrashed = false;<a name="line.61"></a>
<FONT color="green">062</FONT>          this.robotMoveCount = 0;<a name="line.62"></a>
<FONT color="green">063</FONT>          this.robotTurnCount = 0;<a name="line.63"></a>
<FONT color="green">064</FONT>       }<a name="line.64"></a>
<FONT color="green">065</FONT>    <a name="line.65"></a>
<FONT color="green">066</FONT>       /**<a name="line.66"></a>
<FONT color="green">067</FONT>        * Get the next step the robot has taken.<a name="line.67"></a>
<FONT color="green">068</FONT>        */<a name="line.68"></a>
<FONT color="green">069</FONT>       public RobotStep nextStep()<a name="line.69"></a>
<FONT color="green">070</FONT>       {<a name="line.70"></a>
<FONT color="green">071</FONT>          final RobotStep nextStep = this.ai.nextStep();<a name="line.71"></a>
<FONT color="green">072</FONT>          //System.out.println(nextStep);<a name="line.72"></a>
<FONT color="green">073</FONT>          try<a name="line.73"></a>
<FONT color="green">074</FONT>          {<a name="line.74"></a>
<FONT color="green">075</FONT>             this.robotModelMaster.takeNextStep(nextStep);<a name="line.75"></a>
<FONT color="green">076</FONT>          }<a name="line.76"></a>
<FONT color="green">077</FONT>          catch (maze.model.RobotModelMaster.RobotCrashedException e)<a name="line.77"></a>
<FONT color="green">078</FONT>          {<a name="line.78"></a>
<FONT color="green">079</FONT>             this.robotCrashed = true;<a name="line.79"></a>
<FONT color="green">080</FONT>             e.printStackTrace();<a name="line.80"></a>
<FONT color="green">081</FONT>             JOptionPane.showMessageDialog(maze.Main.getPrimaryFrameInstance(), e.getMessage());<a name="line.81"></a>
<FONT color="green">082</FONT>          }<a name="line.82"></a>
<FONT color="green">083</FONT>          if (nextStep.isTurn())<a name="line.83"></a>
<FONT color="green">084</FONT>             this.robotTurnCount++;<a name="line.84"></a>
<FONT color="green">085</FONT>          else<a name="line.85"></a>
<FONT color="green">086</FONT>             this.robotMoveCount++;<a name="line.86"></a>
<FONT color="green">087</FONT>    <a name="line.87"></a>
<FONT color="green">088</FONT>          return nextStep;<a name="line.88"></a>
<FONT color="green">089</FONT>       }<a name="line.89"></a>
<FONT color="green">090</FONT>    <a name="line.90"></a>
<FONT color="green">091</FONT>       /**<a name="line.91"></a>
<FONT color="green">092</FONT>        * Is the robot done moving.<a name="line.92"></a>
<FONT color="green">093</FONT>        */<a name="line.93"></a>
<FONT color="green">094</FONT>       public boolean isRobotDone()<a name="line.94"></a>
<FONT color="green">095</FONT>       {<a name="line.95"></a>
<FONT color="green">096</FONT>          return this.getStepCount() &gt; MAX_STEP_COUNT || this.robotCrashed;<a name="line.96"></a>
<FONT color="green">097</FONT>       }<a name="line.97"></a>
<FONT color="green">098</FONT>    <a name="line.98"></a>
<FONT color="green">099</FONT>       /**<a name="line.99"></a>
<FONT color="green">100</FONT>        * Get the total number of steps the robot has taken so far. Turns count as a<a name="line.100"></a>
<FONT color="green">101</FONT>        * step.<a name="line.101"></a>
<FONT color="green">102</FONT>        */<a name="line.102"></a>
<FONT color="green">103</FONT>       public int getStepCount()<a name="line.103"></a>
<FONT color="green">104</FONT>       {<a name="line.104"></a>
<FONT color="green">105</FONT>          return this.robotMoveCount + this.robotTurnCount;<a name="line.105"></a>
<FONT color="green">106</FONT>       }<a name="line.106"></a>
<FONT color="green">107</FONT>    <a name="line.107"></a>
<FONT color="green">108</FONT>       /**<a name="line.108"></a>
<FONT color="green">109</FONT>        * Get the total number of moves from cell to cell taken by the robot so far.<a name="line.109"></a>
<FONT color="green">110</FONT>        * Turns not counted.<a name="line.110"></a>
<FONT color="green">111</FONT>        * @return Total moves.<a name="line.111"></a>
<FONT color="green">112</FONT>        */<a name="line.112"></a>
<FONT color="green">113</FONT>       public int getRobotMoveCount()<a name="line.113"></a>
<FONT color="green">114</FONT>       {<a name="line.114"></a>
<FONT color="green">115</FONT>          return robotMoveCount;<a name="line.115"></a>
<FONT color="green">116</FONT>       }<a name="line.116"></a>
<FONT color="green">117</FONT>    <a name="line.117"></a>
<FONT color="green">118</FONT>       /**<a name="line.118"></a>
<FONT color="green">119</FONT>        * Get the total number of turns taken by the robot.<a name="line.119"></a>
<FONT color="green">120</FONT>        * @return Total turns taken.<a name="line.120"></a>
<FONT color="green">121</FONT>        */<a name="line.121"></a>
<FONT color="green">122</FONT>       public int getRobotTurnCount()<a name="line.122"></a>
<FONT color="green">123</FONT>       {<a name="line.123"></a>
<FONT color="green">124</FONT>          return robotTurnCount;<a name="line.124"></a>
<FONT color="green">125</FONT>       }<a name="line.125"></a>
<FONT color="green">126</FONT>    <a name="line.126"></a>
<FONT color="green">127</FONT>       /**<a name="line.127"></a>
<FONT color="green">128</FONT>        * Get the robot model being used by this controller.<a name="line.128"></a>
<FONT color="green">129</FONT>        */<a name="line.129"></a>
<FONT color="green">130</FONT>       public RobotModelMaster getRobotModelMaster()<a name="line.130"></a>
<FONT color="green">131</FONT>       {<a name="line.131"></a>
<FONT color="green">132</FONT>          return this.robotModelMaster;<a name="line.132"></a>
<FONT color="green">133</FONT>       }<a name="line.133"></a>
<FONT color="green">134</FONT>    <a name="line.134"></a>
<FONT color="green">135</FONT>       public Direction[][] getUnderstandingDir()<a name="line.135"></a>
<FONT color="green">136</FONT>       {<a name="line.136"></a>
<FONT color="green">137</FONT>          return ai.getUnderstandingDir();<a name="line.137"></a>
<FONT color="green">138</FONT>       }<a name="line.138"></a>
<FONT color="green">139</FONT>    <a name="line.139"></a>
<FONT color="green">140</FONT>       public int[][] getUnderstandingInt()<a name="line.140"></a>
<FONT color="green">141</FONT>       {<a name="line.141"></a>
<FONT color="green">142</FONT>          return ai.getUnderstandingInt();<a name="line.142"></a>
<FONT color="green">143</FONT>       }<a name="line.143"></a>
<FONT color="green">144</FONT>    <a name="line.144"></a>
<FONT color="green">145</FONT>    }<a name="line.145"></a>




























































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